example1.cpp File Reference

#include <fstream>
#include <pcl/common/angles.h>
#include <pcl/console/parse.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/point_representation.h>
#include <pcl/io/pcd_io.h>
#include <pcl/console/time.h>
#include <pcl/keypoints/uniform_sampling.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/fpfh.h>
#include <pcl/registration/correspondence_estimation.h>
#include <pcl/registration/correspondence_estimation_normal_shooting.h>
#include <pcl/registration/correspondence_estimation_backprojection.h>
#include <pcl/registration/correspondence_rejection_median_distance.h>
#include <pcl/registration/correspondence_rejection_surface_normal.h>
#include <pcl/registration/transformation_estimation_point_to_plane_lls.h>
#include <pcl/registration/default_convergence_criteria.h>
#include <pcl/visualization/pcl_visualizer.h>

Include dependency graph for example1.cpp:

Go to the source code of this file.

Typedefs
typedef PointCloud< PointT >	Cloud
typedef Cloud::ConstPtr	CloudConstPtr
typedef Cloud::Ptr	CloudPtr
typedef PointNormal	PointT
Functions
void	findCorrespondences (const CloudPtr &src, const CloudPtr &tgt, Correspondences &all_correspondences)
void	findTransformation (const CloudPtr &src, const CloudPtr &tgt, const CorrespondencesPtr &correspondences, Eigen::Matrix4d &transform)
void	icp (const PointCloud< PointT >::Ptr &src, const PointCloud< PointT >::Ptr &tgt, Eigen::Matrix4d &transform)
int	main (int argc, char **argv)
void	rejectBadCorrespondences (const CorrespondencesPtr &all_correspondences, const CloudPtr &src, const CloudPtr &tgt, Correspondences &remaining_correspondences)
void	saveTransform (const std::string &file, const Eigen::Matrix4d &transform)
void	view (const CloudConstPtr &src, const CloudConstPtr &tgt, const CorrespondencesPtr &correspondences)
Variables
bool	rejection = true
CloudPtr	src
CloudPtr	tgt
boost::shared_ptr< PCLVisualizer >	vis
bool	visualize = false

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Typedef Documentation

typedef PointCloud<PointT> Cloud

Definition at line 31 of file example1.cpp.

typedef Cloud::ConstPtr CloudConstPtr

Definition at line 33 of file example1.cpp.

typedef Cloud::Ptr CloudPtr

Definition at line 32 of file example1.cpp.

typedef PointNormal PointT

Definition at line 30 of file example1.cpp.

---

Function Documentation

void findCorrespondences	(	const CloudPtr &	src,
		const CloudPtr &	tgt,
		Correspondences &	all_correspondences
	)

Definition at line 44 of file example1.cpp.

void findTransformation	(	const CloudPtr &	src,
		const CloudPtr &	tgt,
		const CorrespondencesPtr &	correspondences,
		Eigen::Matrix4d &	transform
	)

Definition at line 93 of file example1.cpp.

void icp	(	const PointCloud< PointT >::Ptr &	src,
		const PointCloud< PointT >::Ptr &	tgt,
		Eigen::Matrix4d &	transform
	)

Definition at line 129 of file example1.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 193 of file example1.cpp.

void rejectBadCorrespondences	(	const CorrespondencesPtr &	all_correspondences,
		const CloudPtr &	src,
		const CloudPtr &	tgt,
		Correspondences &	remaining_correspondences
	)

Definition at line 63 of file example1.cpp.

void saveTransform	(	const std::string &	file,
		const Eigen::Matrix4d &	transform
	)

Definition at line 181 of file example1.cpp.

void view	(	const CloudConstPtr &	src,
		const CloudConstPtr &	tgt,
		const CorrespondencesPtr &	correspondences
	)

Definition at line 104 of file example1.cpp.

---

Variable Documentation

bool rejection = true

Definition at line 37 of file example1.cpp.

CloudPtr src

Definition at line 35 of file example1.cpp.

CloudPtr tgt

Definition at line 35 of file example1.cpp.

boost::shared_ptr<PCLVisualizer> vis

Definition at line 40 of file example1.cpp.

void visualize = false

Definition at line 38 of file example1.cpp.